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Taupe was a shade of brown and grey named after the French name for a mole.
The War Doctor wore taupe leather gaiters when he and Petrella escaped a Mark VIII Dalek ambush led by a Type E Supreme Dalek. (COMIC: Ambush)
The Fourth Doctor wore a frock coat of taupe tweed with a raven black velvet collar when foiling the Kraal's plan to conquer Earth with androids on 1980, (TV: The Android Invasion) during his first encounter with Morbius and the Sisterhood of Karn, (TV: The Brain of Morbius) during his first encounter with Krynoids, (TV: The Seeds of Doom) when meeting River Song, (AUDIO: Someone I Once Knew) when facing a Rutan scout during the Fang Rock Incident, (TV: Horror of Fang Rock) when first meeting Professor Marius and K9 Mark I when facing the Nucleus of the Swarm on the Titan Base of the Bi-Al Foundation round 5000 AD, (TV: The Invisible Enemy) when foiling Kroll, (TV: The Power of Kroll) when foiling the Black Guardian, (TV: The Armageddon Factor) when facing a reawakened Davros during a war between the Dalek Empire and the Movellans, (TV: Destiny of the Daleks) when helping his past and future selves foil the Tremas Master and Autons as well as when he witnessed Adam Mitchell's fall, (COMIC: Endgame) when facing Scaroth, (TV: City of Death) and when helping his past and future selves foil a fleet of Mark VII Daleks and saving Gallifrey during the end of the Last Great Time War. (TV: The Day of the Doctor)
The Seventh Doctor wore taupe tweed trousers with tartan symbols. (TV: Time and the Rani-Survival)
Brigadier Alistair Gordon Lethbridge-Stewart wore a double-breasted overcoat in taupe over his navy blue suit when braving the Game of Rassilon set up by President Borusa in his quest for immortality. (TV: The Five Doctors)